<html><head><title>mrpt-performance results - Configuration: 0.9.4-MSVC10-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Results for: 0.9.4-MSVC10-32bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td align="center"><b>Test description</b></td> <td align="center"><b>Execution time</b></td><td align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td> <td align="right">37.14 ms</td> <td align="right">26.93 Hz</td> </tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td> <td align="right">36.34 ms</td> <td align="right">27.52 Hz</td> </tr> <tr> <td>poses: CPose3D (+) CPose3D</td> <td align="right">197.08 ns</td> <td align="right">5.07 MHz</td> </tr> <tr> <td>poses: CPose3D.composeFrom()</td> <td align="right">33.62 ns</td> <td align="right">29.74 MHz</td> </tr> <tr> <td>poses: CPose3D (+) CPoint3D</td> <td align="right">25.13 ns</td> <td align="right">39.79 MHz</td> </tr> <tr> <td>poses: CPose3D.composePoint()</td> <td align="right">21.31 ns</td> <td align="right">46.94 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3D</td> <td align="right">89.96 ns</td> <td align="right">11.12 MHz</td> </tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td> <td align="right">47.25 ns</td> <td align="right">21.17 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPose2D</td> <td align="right">108.63 ns</td> <td align="right">9.21 MHz</td> </tr> <tr> <td>poses: CPose2D.composeFrom()</td> <td align="right">94.77 ns</td> <td align="right">10.55 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPoint2D</td> <td align="right">80.61 ns</td> <td align="right">12.41 MHz</td> </tr> <tr> <td>poses: CPose2D.composePoint()</td> <td align="right">67.32 ns</td> <td align="right">14.85 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td> <td align="right">81.31 ns</td> <td align="right">12.30 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td> <td align="right">51.56 ns</td> <td align="right">19.39 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td> <td align="right">55.91 ns</td> <td align="right">17.89 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composePoint()</td> <td align="right">32.73 ns</td> <td align="right">30.55 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td> <td align="right">124.02 ns</td> <td align="right">8.06 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td> <td align="right">30.61 ns</td> <td align="right">32.67 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td> <td align="right">28.12 ns</td> <td align="right">35.56 MHz</td> </tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td> <td align="right">216.84 ns</td> <td align="right">4.61 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td> <td align="right">1.24 us</td> <td align="right">806.40 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td> <td align="right">1.20 us</td> <td align="right">835.55 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td> <td align="right">20.15 us</td> <td align="right">49.63 KHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td> <td align="right">817.60 ns</td> <td align="right">1.22 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td> <td align="right">823.40 ns</td> <td align="right">1.21 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td> <td align="right">19.09 us</td> <td align="right">52.39 KHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 3x3</td> <td align="right">49.67 ns</td> <td align="right">20.13 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 3x3</td> <td align="right">50.90 ns</td> <td align="right">19.64 MHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 6x6</td> <td align="right">180.98 ns</td> <td align="right">5.53 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 6x6</td> <td align="right">177.90 ns</td> <td align="right">5.62 MHz</td> </tr> <tr> <td>matrix: unit, fix[float,3,3]</td> <td align="right">0.00 ns</td> <td align="right">1.#J THz</td> </tr> <tr> <td>matrix: unit, fix[double,3,3]</td> <td align="right">0.00 ns</td> <td align="right">1.#J THz</td> </tr> <tr> <td>matrix: unit, fix[float,6,6]</td> <td align="right">6.63 ns</td> <td align="right">150.81 MHz</td> </tr> <tr> <td>matrix: unit, fix[double,6,6]</td> <td align="right">8.86 ns</td> <td align="right">112.91 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td> <td align="right">680.28 ns</td> <td align="right">1.47 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td> <td align="right">0.00 ns</td> <td align="right">1.#J THz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td> <td align="right">458.35 ns</td> <td align="right">2.18 MHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td> <td align="right">0.00 ns</td> <td align="right">1.#J THz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td> <td align="right">680.46 ns</td> <td align="right">1.47 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td> <td align="right">35.28 ns</td> <td align="right">28.34 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td> <td align="right">514.01 ns</td> <td align="right">1.95 MHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td> <td align="right">3.40 ns</td> <td align="right">294.39 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td> <td align="right">5.18 us</td> <td align="right">193.06 KHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td> <td align="right">4.56 us</td> <td align="right">219.44 KHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td> <td align="right">3.79 us</td> <td align="right">263.78 KHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td> <td align="right">2.92 us</td> <td align="right">342.06 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 3x3</td> <td align="right">1.50 us</td> <td align="right">665.44 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 3x3</td> <td align="right">9.51 ns</td> <td align="right">105.14 MHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 6x6</td> <td align="right">3.90 us</td> <td align="right">256.17 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 6x6</td> <td align="right">3.54 us</td> <td align="right">282.49 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 20x20</td> <td align="right">34.19 us</td> <td align="right">29.25 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 20x20</td> <td align="right">29.35 us</td> <td align="right">34.07 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 40x40</td> <td align="right">134.24 us</td> <td align="right">7.45 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 40x40</td> <td align="right">126.45 us</td> <td align="right">7.91 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 2x2</td> <td align="right">601.74 ns</td> <td align="right">1.66 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 2x2</td> <td align="right">0.05 ns</td> <td align="right">22.08 GHz</td> </tr> <tr> <td>matrix: det, dyn[double] 3x3</td> <td align="right">872.81 ns</td> <td align="right">1.15 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 3x3</td> <td align="right">0.00 ns</td> <td align="right">1.#J THz</td> </tr> <tr> <td>matrix: det, dyn[double] 6x6</td> <td align="right">2.32 us</td> <td align="right">430.29 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 6x6</td> <td align="right">2.17 us</td> <td align="right">460.60 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 20x20</td> <td align="right">23.14 us</td> <td align="right">43.22 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 20x20</td> <td align="right">21.38 us</td> <td align="right">46.78 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 40x40</td> <td align="right">92.83 us</td> <td align="right">10.77 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 40x40</td> <td align="right">90.97 us</td> <td align="right">10.99 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 4x4</td> <td align="right">892.24 ns</td> <td align="right">1.12 MHz</td> </tr> <tr> <td>matrix: chol, fix[double] 4x4</td> <td align="right">249.10 ns</td> <td align="right">4.01 MHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 40x40</td> <td align="right">41.12 us</td> <td align="right">24.32 KHz</td> </tr> <tr> <td>matrix: chol, fix[double] 40x40</td> <td align="right">26.92 us</td> <td align="right">37.15 KHz</td> </tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td> <td align="right">15.31 us</td> <td align="right">65.32 KHz</td> </tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td> <td align="right">116.85 us</td> <td align="right">8.56 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td> <td align="right">98.96 us</td> <td align="right">10.10 KHz</td> </tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td> <td align="right">55.18 us</td> <td align="right">18.12 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td> <td align="right">498.07 us</td> <td align="right">2.01 KHz</td> </tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td> <td align="right">133.40 us</td> <td align="right">7.50 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td> <td align="right">4.99 ms</td> <td align="right">200.30 Hz</td> </tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td> <td align="right">243.96 us</td> <td align="right">4.10 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td> <td align="right">30.03 ms</td> <td align="right">33.31 Hz</td> </tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td> <td align="right">486.08 us</td> <td align="right">2.06 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td> <td align="right">51.94 ms</td> <td align="right">19.25 Hz</td> </tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td> <td align="right">583.78 us</td> <td align="right">1.71 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td> <td align="right">76.91 ms</td> <td align="right">13.00 Hz</td> </tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td> <td align="right">649.31 us</td> <td align="right">1.54 KHz</td> </tr> <tr> <td>gridmap2D: getCell</td> <td align="right">6.44 ns</td> <td align="right">155.25 MHz</td> </tr> <tr> <td>gridmap2D: setCell</td> <td align="right">9.52 ns</td> <td align="right">105.00 MHz</td> </tr> <tr> <td>gridmap2D: updateCell</td> <td align="right">9.85 ns</td> <td align="right">101.55 MHz</td> </tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td> <td align="right">1.47 ns</td> <td align="right">679.40 MHz</td> </tr> <tr> <td>gridmap2D: insert scan w/o widening</td> <td align="right">225.20 us</td> <td align="right">4.44 KHz</td> </tr> <tr> <td>gridmap2D: insert scan with widening</td> <td align="right">365.80 us</td> <td align="right">2.73 KHz</td> </tr> <tr> <td>gridmap2D: resize</td> <td align="right">2.56 ms</td> <td align="right">389.96 Hz</td> </tr> <tr> <td>gridmap2D: computeLikelihood</td> <td align="right">21.14 us</td> <td align="right">47.30 KHz</td> </tr> <tr> <td>pointmap: insert 100 scans</td> <td align="right">3.27 ms</td> <td align="right">305.75 Hz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td> <td align="right">6.03 us</td> <td align="right">165.76 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td> <td align="right">579.42 us</td> <td align="right">1.73 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td> <td align="right">6.14 ms</td> <td align="right">162.87 Hz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td> <td align="right">6.68 us</td> <td align="right">149.59 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td> <td align="right">519.96 us</td> <td align="right">1.92 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td> <td align="right">6.64 ms</td> <td align="right">150.68 Hz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td> <td align="right">1.95 us</td> <td align="right">511.57 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td> <td align="right">167.14 us</td> <td align="right">5.98 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td> <td align="right">17.45 ms</td> <td align="right">57.30 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td> <td align="right">9.11 ms</td> <td align="right">109.75 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td> <td align="right">210.71 ms</td> <td align="right">4.75 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td> <td align="right">8.38 ms</td> <td align="right">119.37 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td> <td align="right">198.71 ms</td> <td align="right">5.03 Hz</td> </tr> <tr> <td>random: drawUniform32bit</td> <td align="right">7.57 ns</td> <td align="right">132.11 MHz</td> </tr> <tr> <td>random: drawUniform</td> <td align="right">7.60 ns</td> <td align="right">131.54 MHz</td> </tr> <tr> <td>random: drawGaussian1D_normalized</td> <td align="right">58.48 ns</td> <td align="right">17.10 MHz</td> </tr> <tr> <td>random: drawGaussian1D</td> <td align="right">57.62 ns</td> <td align="right">17.35 MHz</td> </tr> <tr> <td>random: system rand()</td> <td align="right">29.43 ns</td> <td align="right">33.98 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td> <td align="right">2.95 us</td> <td align="right">339.21 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td> <td align="right">3.53 us</td> <td align="right">282.92 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td> <td align="right">145.71 ns</td> <td align="right">6.86 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td> <td align="right">227.37 ns</td> <td align="right">4.40 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td> <td align="right">514.56 ns</td> <td align="right">1.94 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td> <td align="right">170.42 ns</td> <td align="right">5.87 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td> <td align="right">283.60 ns</td> <td align="right">3.53 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td> <td align="right">661.22 ns</td> <td align="right">1.51 MHz</td> </tr> <tr> <td>random: permuteVector (len=10)</td> <td align="right">304.45 ns</td> <td align="right">3.28 MHz</td> </tr> <tr> <td>random: permuteVector (len=100)</td> <td align="right">3.47 us</td> <td align="right">288.42 KHz</td> </tr> <tr> <td>random: permuteVector (len=1000)</td> <td align="right">37.99 us</td> <td align="right">26.33 KHz</td> </tr> <tr> <td>math: round</td> <td align="right">0.00 ns</td> <td align="right">220.79 THz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td> <td align="right">33.06 ms</td> <td align="right">30.25 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td> <td align="right">50.64 ms</td> <td align="right">19.75 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td> <td align="right">82.66 ms</td> <td align="right">12.10 Hz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td> <td align="right">27.36 ms</td> <td align="right">36.56 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td> <td align="right">43.25 ms</td> <td align="right">23.12 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td> <td align="right">66.55 ms</td> <td align="right">15.03 Hz</td> </tr> <tr> <td>images: Gauss filter (640x480)</td> <td align="right">5.57 ms</td> <td align="right">179.49 Hz</td> </tr> <tr> <td>images: Gauss filter (800x600)</td> <td align="right">8.84 ms</td> <td align="right">113.10 Hz</td> </tr> <tr> <td>images: Gauss filter (1024x768)</td> <td align="right">14.37 ms</td> <td align="right">69.58 Hz</td> </tr> <tr> <td>images: Half sample GRAY (160x120)</td> <td align="right">1.63 us</td> <td align="right">612.18 KHz</td> </tr> <tr> <td>images: Half sample GRAY (320x240)</td> <td align="right">4.13 us</td> <td align="right">241.92 KHz</td> </tr> <tr> <td>images: Half sample GRAY (640x480)</td> <td align="right">19.15 us</td> <td align="right">52.22 KHz</td> </tr> <tr> <td>images: Half sample GRAY (800x600)</td> <td align="right">31.65 us</td> <td align="right">31.59 KHz</td> </tr> <tr> <td>images: Half sample GRAY (1024x768)</td> <td align="right">50.27 us</td> <td align="right">19.89 KHz</td> </tr> <tr> <td>images: Half sample GRAY (1280x1024)</td> <td align="right">87.87 us</td> <td align="right">11.38 KHz</td> </tr> <tr> <td>images: Half sample RGB (160x120)</td> <td align="right">3.54 us</td> <td align="right">282.58 KHz</td> </tr> <tr> <td>images: Half sample RGB (320x240)</td> <td align="right">11.27 us</td> <td align="right">88.76 KHz</td> </tr> <tr> <td>images: Half sample RGB (640x480)</td> <td align="right">57.50 us</td> <td align="right">17.39 KHz</td> </tr> <tr> <td>images: Half sample RGB (800x600)</td> <td align="right">80.68 us</td> <td align="right">12.39 KHz</td> </tr> <tr> <td>images: Half sample RGB (1024x768)</td> <td align="right">391.11 us</td> <td align="right">2.56 KHz</td> </tr> <tr> <td>images: Half sample RGB (1280x1024)</td> <td align="right">826.49 us</td> <td align="right">1.21 KHz</td> </tr> <tr> <td>images: Half sample smooth GRAY (160x120)</td> <td align="right">2.87 us</td> <td align="right">348.99 KHz</td> </tr> <tr> <td>images: Half sample smooth GRAY (320x240)</td> <td align="right">8.64 us</td> <td align="right">115.70 KHz</td> </tr> <tr> <td>images: Half sample smooth GRAY (640x480)</td> <td align="right">29.52 us</td> <td align="right">33.88 KHz</td> </tr> <tr> <td>images: Half sample smooth GRAY (800x600)</td> <td align="right">66.07 us</td> <td align="right">15.14 KHz</td> </tr> <tr> <td>images: Half sample smooth GRAY (1024x768)</td> <td align="right">90.65 us</td> <td align="right">11.03 KHz</td> </tr> <tr> <td>images: Half sample smooth GRAY (1280x1024)</td> <td align="right">132.57 us</td> <td align="right">7.54 KHz</td> </tr> <tr> <td>images: Half sample smooth RGB (160x120)</td> <td align="right">202.00 us</td> <td align="right">4.95 KHz</td> </tr> <tr> <td>images: Half sample smooth RGB (320x240)</td> <td align="right">779.03 us</td> <td align="right">1.28 KHz</td> </tr> <tr> <td>images: Half sample smooth RGB (640x480)</td> <td align="right">3.10 ms</td> <td align="right">323.08 Hz</td> </tr> <tr> <td>images: Half sample smooth RGB (800x600)</td> <td align="right">4.82 ms</td> <td align="right">207.41 Hz</td> </tr> <tr> <td>images: Half sample smooth RGB (1024x768)</td> <td align="right">8.63 ms</td> <td align="right">115.89 Hz</td> </tr> <tr> <td>images: Half sample smooth RGB (1280x1024)</td> <td align="right">14.76 ms</td> <td align="right">67.77 Hz</td> </tr> <tr> <td>images: RGB->GRAY 8u (40x30)</td> <td align="right">6.40 us</td> <td align="right">156.37 KHz</td> </tr> <tr> <td>images: RGB->GRAY 8u (80x60)</td> <td align="right">4.33 us</td> <td align="right">230.95 KHz</td> </tr> <tr> <td>images: RGB->GRAY 8u (160x120)</td> <td align="right">11.84 us</td> <td align="right">84.43 KHz</td> </tr> <tr> <td>images: RGB->GRAY 8u (320x240)</td> <td align="right">44.50 us</td> <td align="right">22.47 KHz</td> </tr> <tr> <td>images: RGB->GRAY 8u (640x480)</td> <td align="right">191.53 us</td> <td align="right">5.22 KHz</td> </tr> <tr> <td>images: RGB->GRAY 8u (800x600)</td> <td align="right">350.56 us</td> <td align="right">2.85 KHz</td> </tr> <tr> <td>images: RGB->GRAY 8u (1024x768)</td> <td align="right">968.81 us</td> <td align="right">1.03 KHz</td> </tr> <tr> <td>images: RGB->GRAY 8u (1280x1024)</td> <td align="right">1.71 ms</td> <td align="right">584.85 Hz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td> <td align="right">21.97 us</td> <td align="right">45.52 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td> <td align="right">22.01 us</td> <td align="right">45.44 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td> <td align="right">12.71 us</td> <td align="right">78.69 KHz</td> </tr> <tr> <td>feature_extraction [640x480]: Harris</td> <td align="right">38.32 ms</td> <td align="right">26.10 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: KLT</td> <td align="right">37.22 ms</td> <td align="right">26.87 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT</td> <td align="right">739.68 ms</td> <td align="right">1.35 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td> <td align="right">232.95 ms</td> <td align="right">4.29 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SURF</td> <td align="right">309.97 ms</td> <td align="right">3.23 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: FAST</td> <td align="right">6.88 ms</td> <td align="right">145.25 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td> <td align="right">88.28 ms</td> <td align="right">11.33 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + CC</td> <td align="right">59.68 ms</td> <td align="right">16.76 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td> <td align="right">58.57 ms</td> <td align="right">17.07 Hz</td> </tr> <tr> <td>feature_matching [640x480]: SIFT</td> <td align="right">1.50 sec</td> <td align="right">668.02 mHz</td> </tr> <tr> <td>feature_matching [640x480]: SURF</td> <td align="right">621.62 ms</td> <td align="right">1.61 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + CC</td> <td align="right">21.69 ms</td> <td align="right">46.10 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td> <td align="right">12.64 ms</td> <td align="right">79.13 Hz</td> </tr> <tr> <td>graph(2d): insertEdge x 1e3</td> <td align="right">301.62 us</td> <td align="right">3.32 KHz</td> </tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td> <td align="right">298.86 us</td> <td align="right">3.35 KHz</td> </tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td> <td align="right">274.69 us</td> <td align="right">3.64 KHz</td> </tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td> <td align="right">270.21 us</td> <td align="right">3.70 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td> <td align="right">415.87 us</td> <td align="right">2.40 KHz</td> </tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td> <td align="right">406.59 us</td> <td align="right">2.46 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td> <td align="right">377.54 us</td> <td align="right">2.65 KHz</td> </tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td> <td align="right">379.45 us</td> <td align="right">2.64 KHz</td> </tr> <tr> <td>graph(2d): insertEdge x 1e4</td> <td align="right">4.14 ms</td> <td align="right">241.59 Hz</td> </tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td> <td align="right">4.00 ms</td> <td align="right">250.06 Hz</td> </tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td> <td align="right">2.94 ms</td> <td align="right">339.77 Hz</td> </tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td> <td align="right">2.89 ms</td> <td align="right">345.69 Hz</td> </tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td> <td align="right">4.77 ms</td> <td align="right">209.57 Hz</td> </tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td> <td align="right">4.86 ms</td> <td align="right">205.59 Hz</td> </tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td> <td align="right">4.05 ms</td> <td align="right">246.64 Hz</td> </tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td> <td align="right">4.21 ms</td> <td align="right">237.52 Hz</td> </tr> <tr> <td>graph(3d): insertEdge x 1e3</td> <td align="right">381.69 us</td> <td align="right">2.62 KHz</td> </tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td> <td align="right">407.21 us</td> <td align="right">2.46 KHz</td> </tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td> <td align="right">339.57 us</td> <td align="right">2.94 KHz</td> </tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td> <td align="right">334.55 us</td> <td align="right">2.99 KHz</td> </tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td> <td align="right">688.91 us</td> <td align="right">1.45 KHz</td> </tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td> <td align="right">684.69 us</td> <td align="right">1.46 KHz</td> </tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td> <td align="right">683.24 us</td> <td align="right">1.46 KHz</td> </tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td> <td align="right">684.37 us</td> <td align="right">1.46 KHz</td> </tr> <tr> <td>graph(3d): insertEdge x 1e4</td> <td align="right">3.89 ms</td> <td align="right">257.39 Hz</td> </tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td> <td align="right">3.79 ms</td> <td align="right">263.81 Hz</td> </tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td> <td align="right">3.59 ms</td> <td align="right">278.91 Hz</td> </tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td> <td align="right">3.52 ms</td> <td align="right">284.28 Hz</td> </tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td> <td align="right">7.80 ms</td> <td align="right">128.15 Hz</td> </tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td> <td align="right">7.81 ms</td> <td align="right">128.11 Hz</td> </tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td> <td align="right">7.49 ms</td> <td align="right">133.45 Hz</td> </tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td> <td align="right">7.57 ms</td> <td align="right">132.15 Hz</td> </tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td> <td align="right">213.16 us</td> <td align="right">4.69 KHz</td> </tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td> <td align="right">311.59 us</td> <td align="right">3.21 KHz</td> </tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td> <td align="right">2.57 ms</td> <td align="right">389.66 Hz</td> </tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td> <td align="right">2.70 ms</td> <td align="right">370.20 Hz</td> </tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td> <td align="right">31.29 ms</td> <td align="right">31.96 Hz</td> </tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td> <td align="right">32.92 ms</td> <td align="right">30.38 Hz</td> </tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td> <td align="right">393.68 ms</td> <td align="right">2.54 Hz</td> </tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td> <td align="right">385.61 ms</td> <td align="right">2.59 Hz</td> </tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td> <td align="right">380.30 ms</td> <td align="right">2.63 Hz</td> </tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td> <td align="right">376.84 ms</td> <td align="right">2.65 Hz</td> </tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:37.418402 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
